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Operating Leases - Additional Information (Details)
$ in Millions
1 Months Ended 3 Months Ended 6 Months Ended
Dec. 31, 2023
Nov. 30, 2023
ft²
Jun. 30, 2023
ft²
Jun. 30, 2024
USD ($)
ft²
Jun. 30, 2023
USD ($)
ft²
Jun. 30, 2024
USD ($)
ft²
Jun. 30, 2023
USD ($)
ft²
May 31, 2024
ft²
Operating Leased Assets [Line Items]                
Operating lease cost | $       $ 0.5 $ 0.4 $ 1.0 $ 0.8  
Variable lease cost | $       $ 0.4 $ 0.4 0.8 0.7  
Cash paid included in measurement of operating lease liabilities included in cash flow from operating activities | $           $ 1.1 $ 1.0  
Lease Agreement | South San Francisco                
Operating Leased Assets [Line Items]                
Lease expiration           2024-09    
Lease Agreement | South San Francisco, California                
Operating Leased Assets [Line Items]                
Area of space leased     44,000   44,000   44,000  
Operating lease commencement, description           The lease term is expected to commence in the third quarter of 2024 and the lease term is one hundred twenty months.    
Operating lease term     120 months   120 months   120 months  
Operating lease, option to extend, description           The Company has an option to extend the lease term for a total of two consecutive five-year periods.    
Operating lease option to extend     true          
Additional area of space leased               11,321
Lease Agreement | San Diego, California member                
Operating Leased Assets [Line Items]                
Area of space leased   5,700            
Operating lease commencement, description           The lease term commenced in December 2023 and expires in March 2028.    
Operating lease term commencement month and year 2023-12              
Lease expiration   2028-03            
Operating lease existence of option to renew   true            
Operating lease renewal term   3 years            
Laboratory and Office Facilities | Lease Agreement | South San Francisco                
Operating Leased Assets [Line Items]                
Area of space leased       29,000   29,000